/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University
* of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef KEYFRAMEDATABASE_H
#define KEYFRAMEDATABASE_H

#include <list>
#include <set>
#include <vector>

#include "KeyFrame.h"
#include "Frame.h"
#include "ORBVocabulary.h"

#include <mutex>

namespace SIVO {

class Frame;
class KeyFrame;

class KeyFrameDatabase {
 public:
    explicit KeyFrameDatabase(const ORBVocabulary &voc);

    void add(KeyFrame *pKF);

    void erase(KeyFrame *pKF);

    void clear();

    // Loop Detection
    std::vector<KeyFrame *> DetectLoopCandidates(KeyFrame *pKF, float minScore);

    // Relocalization
    std::vector<KeyFrame *> DetectRelocalizationCandidates(Frame *F);

 protected:
    // Associated vocabulary
    const ORBVocabulary *mpVoc;

    // Inverted file
    std::vector<std::list<KeyFrame *>> mvInvertedFile;

    // Mutex
    std::mutex mMutex;
};

}  // namespace SIVO

#endif
